Automatic steering system for dirigible craft



Oct. 5, w37. B. B. HOLMES AUTOMATIC STEERING SYSTEM FOR DIRIGIBLE CRAFT Filed Feb. 9, 1934 5 Sheets-Sheet l Gttomegs Oct. 5, 1937. B, B HOLMES 2,095,031

AUTOMATIC STEERING SYSTEM FOR DIRlGBLE C RAFT Filed Feb. 9, 1934, 5 Sheets-Sheet 2 lhwentor (Ittornegs B. B. HOLMES Oct. 5, 1937.

AUTOMATIC STEERING SYSTEM Fon DIRIGIBLE CRAFT 5 Sheets-Sheet I5 Filed Feb. 9,v 1934 gnventor Gttomegs Oct 5, 1937. B. B. HOLMES AUTOMATIC STEERING SYSTM FOR DIRIGIBLE CRAFT Filed Feb. 9, 1934 5 Sheets-Sheet 4 ow QJ Zoo 2mm Gttomegs OCt- 5, 1937 B1B. HOLMES AUTOMATIC STEERING SYSTEM FOR DIRIGIBLE CRAFT Filed Feb. 9, 1934 5 Sheets-Sheet 5 dem Amon

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Patented Oct. 5, 1937 PATENT; oFF-ICE i AUTOMATIC STEERING SYSTEM FOR DIR- IGIBLE CRAFT Bradford B. Holmes, Stonington, Conn., assignor to Buth V. Holmes, Stonington, Conn.

Application February 9, 1934, Serial No. 710,553

This invention relates to automatic steering systems for dirigible craft. The system is capable of adaptation to the control of airships or other rudder directed aircraft as well as marine craft.

It relates specifically to a remote control arrangement to be placed at the control station of the craft and to operate a steering motor directly connected to the rudder in the stern of the craft or to operate the power steering gear of a ship. In both uses mentioned, the` steering motor or other steering device to be controlled is located at the stern of the craft y and the controlling mechanism in the pilot house or other steering station, usually well forward on the craft and ata considerable distance fro therudder. A s

The main object of this inventionis to eliminate the usual follow-'up system of control in which the rudder position is governed by a two- -part controller in which one part is mechanically connected to the rudder, and the other operatively connected to thecompass of the craft. Such a controller must-either be mounted on the steering gear, or, if' in the pilot house, the hand steering mechanism must serve as a connecting link between the controller and rudder. When the controller is mounted on the steering gear, it is not readily accessible for inspection and repair, since in many craft the lazaret is in an unfavorable location for access and is often dark, damp, addirty. All of these conditions are unsuited to the housing of a complicated electrical control.

When the two-part controller'is located in the pilot house, backlash is always present between the rudder and controller, because of slack cables, worn mechanical parts, leaky telemotors, or the like. Furthermore, the backlash varies in amount from time' to time and thus introduces serious and variable errors in steering. This backlash is usually compensated by the use of lost motion, and this is a clumsy expedient.

In a follow-up system of control, adjusting the helm between minimum and maximum conditions requires a. complicated mechanical arrangement for varying gear or lever ratios, or

. for shifting contacts. A resistance can be used in series with the motor to change the rate of rudder movement, `but not the angle through which it is moved since the latter is determined by the controller.

In view of the disadvantages incident to the use of a. follow-up system, it is proposed in this invention to employ a controller operated by mechanismpthe position of which does not depend upon the position of the rudder.` 'Ihe controller operates the steering motor for a denite time period, hence a resistance in series with the steering motor can be used to change the l angle of rudder movement, and this resistance affords a simple means of solving the heretofore diiicult problem of helm adjustment. The steering, therefore, may be carried out either directly at the rudder or at the valve or other device which controls the steering engine, thus .posi-l tively and permanently eliminating all backlash in the system and avoiding all errors incident thereto. Furthermore, all of the electrical control equipment involved in moving the rudder 4and susceptible of adjustment is located at the steering lstation so as to -be accessible readily for inspection,'adjustment, or repair.

The advantages of this system inv which the steering is done directly at the rudder or at the steering engine, and in which the electrical control mechanism is segregated at the steering station are outstanding and result in materially simplifying the wiring, installation, and servicingof electrical steering systems. The elimination of a follow-up connection between the. rudder and controller makes it possible to-"Iocate the parts in the most favorable and accessible positions and to maintain more exact synchronisin between the rudder and controller than in follow-up systems having backlash. The electrical circuits may be simplied and arranged so that the control parts can be connected to or dis-` connected from the system by plug-in connection to a cable, thus simplifying installation, servicing, and maintenance and permitting the quick substitution of spare units at anytime: The location of the controller at the steering station makes it`r possible to use it as a rudder position indicator.

Concisely stated, other objects and advantages in addition to those mentioned above are the lthe location and arrangement of all units of the system to permit their ready and convenient replacement.

Other objects andpadvantages of systems embodying my invention will be apparent from the following description when read in connection with the accompanying drawings, in which:-

Fig. 1 is a plan view of a complete automatic 55 systems embodying the invention, the quadrant being shown directly connected to the rudder of the craft;

Fig. 3 is a view in elevation of the quadrant shown in Fig. 2, with certain parts in section, and with the steering cables and rudder post omitted;

Fig. 4 is a plan view of a contact device operated by movement of the tiller, the cover being removed to show the interior;

Fig.`5 isa section on line V-V of Fig. 4, and showing the means for actuating the contact device;

Fig. 6 is a plan view of the control mechanism mounted Within a control box, with the cover open to show the arrangement of the various parts;

Fig. 7 is a View of the control box with the controller removed to show the operating parts more clearly; .Fig 8 is a diagrammatic view of thepreferred form of automatic steering system embodying this'invention and showing the electric circuits; Fig."9 is a side view, partly in section, of a portable remote control switch suitable for use with steering systems embodying this invention;

Fig. 10 is a circuit diagram of a modified system with the mechanical parts of a modified controller also shown;

Fig. 11 is an illustrated diagram for the pur- DOse of defining the rudder positions discussed in the specification; and

Fig. 12 is-a 'partial plan view showing the invention applied to a double rudder steering system.

In steering systems wherein a follow-up connection is used, the parts are so arranged lthat the steering motor stops after the rudder has turned through a definite predetermined angle.

In Systems embodying this invention, on the contrary, itis proposed to run the steering motor for a definite and predetermined time and without regard for the angle through which the rudder is turned. The reason for operating the rudder in this manner is based -upon the following facts which have been discovered after prolonged experimentation.

If a craft be provided with a reversible motor for actuating the rudder, and mechanism be provided in the form of suitable gearing to oscillate the rudder for definite and predetermined intervals of time, it will be found that neglecting electrical and frictional irregularities the `rudder will tend to move so that its center of oscil- Y sume if allowed to move freely Vwith the boat moving 'through the water in the direction of the keel line. The -reason why ,the rudder seeks a center of oscillation coinciding with the free ytrailing rudder position is that the rudder in moving away 'from the trailing position when the craft is under way encounters greater water resistance than when itis moving toward the trailing position and this causes a slowing up of the motor when rudder is being put on.A However,.the free trailing position of the rudder is very rarely the rudder position which holds the center position in the quadrant.

` rudder at the center of oscillation, and formo A ing the controller to its zero position correspond `similar influence will be brought about /oy the elements, such as wind and waves.

The above exposition will be understood better vby reference to Fig. l1 of the drawings, wherein the reference character I5 designates the hull of a craft with the center or keel line designated I6. If the boat is moving forward through the water and the rudder i1 is free to trail, the boat will tend to turn in a large circle. Thus the rudder will tend to assume a position to one side of the keel line, such as position T. Under the conditions assumed, the neutral position of the rudder in which the craft would maintain its course would be one in which the rudder was held in the position N. Consequently, in order to accomplish accurate steering, compensation must be made not only for the imperfections in the boat itself, which are of xed character, but also the varying outside influences which are incidental to the action of the elements. These fixed influences may be counter-balanced by biasing the rudder toward its neutral position by a1 spring, but better Vstili by providing an .electric biasing resistance so connected in the circuit of a steering motor as to slow down that motor slightly when rudder is being applied in the direction in which the craft inherently tends to turn.. Of the'iniluences tending to c ause aircraft toj move off its course the most Aimportantl among those above enumerated is the propeller drift. 35 This influence may be accurately balanced out by including a proper resistance in the steering motor circuit as just stated. The action fof the motor with such a resistance is to cause thetrailing rudder position to coincide Avery closely with 40 the neutral position of the, 'rudder for normal cruising speeds of the craft. f Having provided means `for balancing` out lthe inherent tendencies of the craft to deviate.from its course by the means abovedescribed,is` nex necessary for accurate steering that therudde and controller be synchronized `properly.`-' synchronization isa vital factor and carried out in several ways. ATwo methods ofbringing about this synchronization will now belde-4 scribedf The first method consists in establishing a definite center rudder position inthe quadrant. The rudder occupies this position, when thec craft is on its course and returns toit when the craft 55 returns to its course after deviation. This center may be eaued the center of oseiuetionmf the I rudder. Synchronization between the' rudder and' controller is then assured by providing a. tendencyl to take oif more rudder than is puton, and by stopping the rudder on its return at a' definite Means are provided for manually settingdth ing to the center vrudder position shouldnac cident causethe two to g'et out of phase. ,Means,., are -provided in thesystem to maintainy therudde center of oscillation and the controller zero tion in phase after their initial adjustment. 4 0

positionl ofy the center of .1 changed by varying the position of thequadrant manually 'to make its position consistent with navigating conditions. This position of the center. of oscillation must obviously be readjusted when- 75 aoaaosi ever changes in the action of the elements, such as wind, causes material variation in the course tending to deflect the craft from a set course.'

In the second method of causing synchronization between the rudder and controller, no fixed center of oscillation of the rudder is established in the quadrant. The circuits are, however, so arranged as to give thel steering motor a tendency to overthrow the rudder in all movements away from the set course, so that the rudder will automatically seek and maintain the neutral position. This provides a flexible and automatic synchronization of the rudder and controller and causes the shift to take place so as to balance out changes in the deflecting forces acting on the craft, without Arequiring any adjustment of the position of the quadrant.

The first method in which the center of oscillation is denitely xed inA the center of the quadrant, and the quadrant set manually to a position to maintain the craft on her course, is very exact and provides accurate and stable steering in rough weather on craft where the automatic steering mechanism acts directly on the rudder. However, when the system is applied to craft on which the automatic mechanism acts on the valve ofa steering engine and, hence, vthe water pressure on the rudder is not a factor, the second method provides stable steering and has the advantage that the rudder-seeks and maintains a neutral position automatically and changes the position accurately as navigating conditions change.

vIn both of the methods of synchronizing discussed above, the apparatus employed is substantially the same, but the electrical hook-up varies in accordance with the operation desired.

Before describing the operation of the. electri/cal circuits for carrying out the above methods," the mechanical elements of the system which are common to both methods will be described:

Referring rst to Fig. l, the systemV therein shown includes a steering quadrant Q, a steering motor M carried by the tiller 3| connected to the rudder |1 and adapted to be moved by a steering wheel W. The wheel is connected to the quadrant Q 'by the usual steering cables I9 and may be held in predetermined position by a brake |9.

The system also includes a magnetic compass 2| having electrical contact apparatus associated with it and a control unit C connected bothto the compass and to the steering motor through electrical cables provided with plug and socket connections. Electrical energy is supplied to the system from anyY suitable source of current here shown as a battery S. An electric cable 22 connects the compass 2| with-the control unit C through a plug 23. A cable 24 havinga plug at each end connects the control unit with the motor M. In similar manner, a cable 25 connects the source of current S with the control unit C by still another plug-in connection.'

In this description the system will be shown with the control applied directly to the rudder, but it is to be understood that if the system is applied to a craft in which the automatic control acts on the valve of a steering engine, the tiller will be connected to the control .valve instead of tiller rigidlyciamped to the rudder post, a quadrant /journaled about the rudder post clamp and .operatively connected to and positionally located by the manual steering system. Power operating means between tiller and quadrant are supplied by a reversible electric motor with suitable worm and spur gearing which is self-locking when not in operation.

The tiller comprises the casting 3| and is secured to 'the rudder post.26 by clampv 28 and bolts 32. The clamp 28 is shaped to cooperate with rudder posts of varying shapes.. Depending from tiller 3| is a quadrant supporting plate 34 bolted to tiller 3| at 59. Plate 43 is cast integral with tiller 3| and supports the motor.

The quadrant comprises the casting39 fittedwith .cable slots 4| and secured to the arms 21 of the body 29 by bolts 33. Body 29 is movablel vabout the rudder post. Lugs 36 are integral with the arms-21 and,together with eye-bolts 31, form an adjustable anchorage for the steering cables I8.

The above described parts are bolted together in such a way that the steering quadrant can be quickly disassembled to permit it to be passed through a small manhole'or deck plate, often `the only entrancto the lazaret.

Secured to the tiller 3| is 'a reversible motor M which includes a worm, worm gear, and shaft 44 in the housing 42. The output of the motor is delivered by shaft 44 at a' speed reduction of about 60:1 from the motor armature. Keyed to vshaft 44 is a spur gear 45 which meshes with -spur gear 46 keyed to shaft 41. Shaft 41 is journaled in bearing 46, which is an integral part of tiller 3|. v0n the other end of shaft 41 is keyed gear 49 which meshes with teeth 39 cast in the quadrant casting 38. Thus, when the motor- M is in operation, the tiller is caused to move inside thequadrant by the above described gear train.

Gears 45 'and 46 are change gears of a series.. so that they oifer a ready means of changing the gear ratio between motor and rudder to roughly flt the steering requirements of the craft. When the motor is not operating, the quadrant and. tiller are locked bythe self-locking worm,

and the tiller then moves m' concert with the quadrant.

Relative movement between the quadrant and tiller is utilized to operate limit switches. These switches serve solely as a safety means to prevent the gear 49 from 'running oil' the teeth 39 during extreme movements of the tiller. This .same movement is also utilized to operate the centering switch whereby the steering motor isdeenergized when the tiller reaches a fixed point in the quadrant.`

The structure shown in insulating disc 54 secured to shaft 62 journaled in tiller 3|. A gear sector 60 carried by quadrant body 29 drives shaft 62 through gear 6|. The disc 54 carries two conducting segments and 52Y spaced at 53 and cooperating with pairs of brushes |12, |13 and |19, I|6| respectively. The vdisc also contains a grounded conducting contact 51 cooperating with a narrow brush |93.` l

vAll of .these brushes are carried by an insulating tube 55 closed by a cover 56 and bolted to the tiller. Extreme movement of thetiller beyond the steering range carries oneof the segments 5| or 52 beyond its cooperating brushes,- but always maintains contact between the other segment and its cooperating brushes to energize Figs. 2-5 comprises an the steering motor in such a direction as to move theA tiller toward the center of the quadrant., This effectively prevents gear 49 from running olf the teeth 39.

The control unit will now be described with reference to the showing of Figs. 6 and 7. Since this unit is to be located adjacent the steering station and is to be accessible for inspection, it

is preferably mounted in a box and fastened on.

the instrument"A panel of the' craft. While such a location is not compulsory, it is convenient and in the present specification it will be assumed lthat such a location is chosen. The box 63'has mounted within it a pilot motor 64 mounted in the bottom thereof and having on its shaft a worm 65 through which drive is imparted to worm wheel 66. Onthe shaft 61 which carries this worm wheel is mounted an insulating disc 68 having a grounded transverse conducting portion 69 cooperating with astationary brush 1| designed to'control the' energization of the lift i mechanism of the` compass contact arm later to be described, the circuit controlled by this brush i operate with4 a similar pinion 18 mounted on the free end of arm 19 which is pivoted at 8| about which it makes limited rotative movement.

The shaft 15 carries a pinion 82y similar in size and character Yto the pinion 11 ,on shaft 14 and also adapted at times to cooperate with the pinion 18. The pinion 18 is carried by a pin 83 in the free end of arm 19 so that, when pinion 18 is brought into engagement with either of the pinions 11 or 82, pinion 18 is caused to rotate in one direction or the other. A smaller pinion 84 is secured to pinion 18 and is constantly in mesh with a large gear 85 rotatable about the pivot 8| and in mesh with a small gear 86 rotatable about post or pin 81. The gear 86,also has secured to it a conducting disc 88 containing six evenly-spaced insulating segments 89 cooperating with brush 9|. lBrush 92 rests on the conducting surface' of disc w88 and does not register with the insulated segments 89. These brushesv contact electric circuits to cause step-by-step energization of a circuit later,to be described.

The operation of disc 88 is so timed with respect to that of timer 68 that their'circuit-closing periods overlap. Consequently, when the craft makes large swings, the steering motor circuit remains closed throughout a swing back to the set course. This avoids the wear of parts as well .as the loss of time and power incurred in starting and stopping the steering motor several times.

The end oi' arm 19 to the left of pivot 8| has an extension upon which are mounted two mag-- netic armatures 83 and 94 cooperating with electromagnets 85 and 96. Connected to the free end of the arm 19 is an insulated link 91 adapted to operate circuit controlling contacts of a threepole double throw switch and to control the circuits in a manner later to be described. At present' it will be sufhcient to state that as long as both of the electromagnets 95 and 96 are de- The shaft 14 cablemay be inserted.

va driving connection to the small pinion 84, large gear 85, and drive the conducting disc 88. In similar manner, energization of the electromagnet 96 rotates the arm 19 in a counterclockwise direction and establishes a drivingconnection between pinions 18 and 82,v thus driving the gear and the associatedl parts in a direction contrary to that which it had whenelectromagnet was energized. The pilot motor 64 runs at constant speed at all times duringthe operation of the system and is at alltimes ready to impart movement to the gear 85 and the parts which it drives in a direction and at a time which is determined by the operation of the circuits which control electromagnets 95 and 96. y Fig. 6 `shows some of the parts already described in connection with Fig. '1, but, in addithegearing just described carries a plurality of electrical conducting brushes mounted thereon and cooperating with controller discs on the shaft 8|. The arrangement of these brushes in connection with certain conducting segments o'f the rotatable discs is such as to bring about proper operation of the steering engine in response to the indications of the magnetic compass. vThe details of the brushes and their cooperating control segments will be set forth when the circuits are traced. y

Mounted on the insulating plate 98 is an electric fuse 99 for protecting the circuits. The inside of cover I0| of box 63 carries ya pilot motor speed controlling resistor |02 and a balancing resistor |03 for imparting a compensating characteristic to the steering motor. Also mounted in this cover are a plurality of condensers which are shunted around appropriate electrical contacts to eliminate sparking and to minimize radio erating. The cover |0| also carries a relay |04 having two contact arms |05 and |06 lfor cona window through which a rudder indicator carriedby shaft 8| is visible. 'Ihis indicator *comprises a disc |12 having a distinctive colored line |'|3 extending across it. By properly cali-A brating the position of this line,it will givel a qualitative indication oi the direction `of the rudder by its relation to the opening since the controller must at all times remain synchronized with respect to the rudder.

From an inspection of Fig.' l it will be. clear that the control unit is entirely housed within the box 63, the only elements projecting therefrom being theliandles of the main switch |08 and resistance '|09, One side of the box 63 contains sockets into which the plugs of the compass, the source of current, and the motor This system while capable of being operated from any type of direct control direction indieating element will be described herein as being controlled by a magnetic compass, 'more particu- -interference when the steering mechanism is ophadl for a full disclosure of details.

2,095,031 larly an electric contact arrangement niagnetic- I ally coupled with the compass as set forth in my copending application Serial No. 641,275, filed November 4, 1932, to which reference may be For thepurpose of this application it will be sufdcient to state that the electric contact arrangement is removable `from the compass and comprises a rotatable electric contact arm magnetically coupled to the moving element of the compass but out of mechanical engagement vwith itat all times. A solenoid is'periodically energized to lift the contact arm so that its two ends engage contacts carried by a ring above the arm in which ring are embedded electric contacts for completing v tion of the solenoid causes the contact arm to' drop by gravity away from the contacts.

As shown, the compass carries a center or zero contact with 'which the arm I4 is in engagement. It also carries four right contacts IR, 2R., 3R,

4R, 4R being, of substantial arcuate extent, andv a similar set/ of contacts IL, 2L, 3L,' 4L. Completion of the solenoid energizing circuit is asf 'sured lby a conducting segment ||6 which cooperates With the end of contact arm ||4remote from the contacts just described.

40 trol is eected by a direct connection to the rudder as shown. This system is of the type in which the quadrant is set manually in order to x the center of oscillation of the rudder with respect to the center line of the craft. It also is shown to include a balancing resistor in circuit with the reversible direct current steering motor when the i motor turns in a direction to move the rudder in the direction inA which the boat has an inherent tendency to turn, thus balancing outthe inherent 'tendency of the craft to turn away from the set course. ,if

Before tracing the circuits and describing the operation of the circuit shown in Fig. 8, certain details of the controller, mechanical parts of which are shown in Figs. 6 and 7, will be described.

' Mounted on the shaft 8| land rotatable with it is an insulating disc. I |6 carrying two arcuate conducting segments ||6 and |2| diametrically related and spaced apart at |22 and |23. Mounted around and cooperating with the arcuate segments ||6 and |2| are a series of brushes which will be designated as far as possible by the reference character 'identifying them with respect Ato the compass control contacts with which they cooperate. When the disc I6 occupies its 'zero position, the insulating gap |22 is in alignment with zero brush B of the controller. In this position there are, contacting with the segment ||-9, a plurality of controller brushes C|L,V C2L,-G3L,fV

C4L, and BL, controlling left rudder movements.

Associated with the conducting segment |2| are similar brushes CIR, C2R, C3R, CIR, and BR,

. controlling right rudder movements.

Also mounted on the shaft 8|, above the disc over switch, comprising aninsulating sector |24 having conducting inserts |25 and |26. Cooperating with the segment |25 are three brushes |21, CCR2 and CORS, and cooperating similarly with segment |26 are brushes |3I, COL2 and COLS.

'Ihe sector |24 is capable of limited movement,

\its distance of travel being determined by engagement of an arm |36 with either; of two stops |34\and |36 on the plate96 (see Fig. 6)

Alk'flxed to the shaft 8| is another insulating disc I3 carrying a split conducting ring |36 having its ends separated by an insulating section 1 |36. Cooperating with the ring |36 are brushes |4| and |42 which are included in circuit with a relay |04, which relay operates to control the motor switch. This relay has an armature with two arms |05 and |06 which cooperate withcontacts, the functions of which will be described in detailnwhen the circuits which they control are traced. Thesel arms are biased to 'the positions shown, the arm |06, therefore, closing the arma-` ture circuit of -the reversible steering motor, and the arm |06 closing the circuit through the steering motor variable resistance |06 which serves for l helm adjustment.

The arm 19 controls through link 61 the posi'- tion of the three pole switch which includes thev switch arms |43, |44, andY |45, the mechanical details of which are indicated clearly in Figs. 6 and 1. It will be understood that, when both of the magnets and 66 are deenergized, the switch arms |43, |44, and |45.occupy the mid position shown and that their up ordown movement is coincident with the up or down movement of the arml 16. 'The force exerted by these switch arms is sumcient to hold the arm 16 in' a mid position be tween the two electromagnets 95 and 96 when the magnets lare both deenergized. l

As herein shown, the system obtains its energy from a direct current source S, the positive pole of which is indicated in Fig. 8 as supplying energy through a fuse F to the switch arm |46 of the main switch |06. This contact is grounded at |41 through a condenser |46 which is employed to prevent sparking of contacts when the circuits are opened. The switch |06 has four positions, namely, an "ofP position, a zero position .to cause centering of the rudder with respect to its quadrant when hand steering is to be carried on or before the circuits are deenergized by moving th switch to "oif position, an R position fo use when the remote control device is to be cluded in the circuit, and a C" position when the control of the mechanism is to be carried out by the compass. Y

The system shown in Fig. 8 of the drawings has a steering motor M of the double iield reversible type having two windings WL and WR under the control of the controller. The controller is in turn driven by the pilot motor 64 and has the energi- `zation of yits contacts controlled by the position of the contact arm ||4 associated with the compass on the craft. It will be understood that] any other suitable ty'pe of reversible motor may be employed in place of that shown, and that it is not essential that the motor be of the double field type.

As long as the switch arm |46 occupies the oil position, all of the circuits of the system are deenergized and the parts occupy the posi-- tions shown in the drawings. If the switch be moved to engagement with the contacts C, the

fuse F, contact arm |46, contact C, Wire |49, windings of the motor 64, pilot motor resistance |02, and ground at |52. Completion of this circuit causes the motor to operate at constant speed and continuously in accordance with the adjustment of the variable resistance |02. By its rotation this motor `drives the timer`68 to cause periodic energization o f the solenoid ||5 controlling the compass contact head, the timer circuit being compuleted twice for each complete revolution of the timer.

The circuit for the solenoid ||5 controlled by the timer is from the positive terminal of the sourcethrough fuse F, contact arm |46, contact C, wire |53, contact |54 on remote control plug |01, wire |55, -,solenoid H5, wire |56, brush 1| of timer 68, conducting segment 69, wire |51, to ground. l As long as this solenoid circuit is closed, the contact arm ||4= i s held in engagement with the conducting segment I6 and the zero contact or one of the L or lR contacts opposite it, thus to control energization of certain circuits of the controller.

It will .be understood that as long as the craft holds its course and the contact arm 4 of the `compass remains in alignment with its zero contact, the other parts of the systemwill not move from the position shown, except that timer 68 will continue to rotate. If, however, the craft departs from its course slightly, so as to cause contact arm 4 when lifted to engage a contact such as contact IL, this action will cause the magnet 95 to be energized andv thus to swing the arm 19 suciently to bring pinions 18 and 11 into engagement with one another an'd thus to rotate the parts ofthe controller.A Th disc 88 will also rotate and will maintain energization of the steering motor by keeping the magnets 95 and 96 l energized when compass contact arm I4 is down.

Movement of the armature carried by the end of arm 19 will cause the contact arms |43, |44, and |45 to be moved upwardly and thus to close two circuits. The first circuit is that of the disc 88 which is provided to maintain the solenoid I |5 energized while timer disc 68 breaks and reestablishes the solenoid circuit at periodic intervals.

'Ihe circuit controlled by the disc 88, under the conditions just outlined, is from positive terminal of the source, through fuse F, ,switch arm |46, contact C, wires |49, |6I, brush 92, disc 88, brush 9|, switch arm |43, contact |63, wire |64, winding of magnet 95, wire |59, to ground. This circuit is interrupted every sixth revolution of the disc, but these interruptions are staggered with relation to interruption of the solenoid circuit occasioned by rotation of timer 68 so that the electromagnet 95 is held energized until the controller moves to a position in which insulating segment. |22 coincides with the position of `one of minal of the source.

steering motor controlled by switch arm |44is from the positive terminal of the source, through fuse F, switch arm |46, contactl C, wires |65 and |66, relay arm |05, relay contact |61, steering motor variable resistance |09, wire |68, switch arm |44, switch contact |69, wire |1|, limit switch contacts |12 and |13, conducting segment 5|, fleld winding WL of steering motor M, armature |14 of that motor, wire |15, contact |16,

arm,- |06 of relay |04, to ground. 'I'his causes' the rudder to be moved to the left until correof the limit switches is opened to prevent further movement in that direction, but the other switch is closed, so that the motor may be energized to movethe gear 49 in a vdirection to maintain it on the track. The limit switch has no function in normal steering. It is set to act considerably beyond the range of rudder determined by the controller and is purely a safety measure to stop the motor if some failure occurs in troller circuits.

'Ihe purpose of the relay |04 isto'stop the steering motor at a xedcenter position in the quadrant when taking off vrudder at such times as the rudder may reach the center position vbefore the controller has reached its center the conunderthrow when putting on rudder, due to water resistance on the rudder. return to center very slightly before the controller reaches its center. The relay provides a means for stopping the` rudder at zero and prevents any displacement between rudder and conposition. As has been stated, the rudder has a tendency to It, therefore, tends to Y troller which would occur if the rudder passed through the zero position on its return. v The arrangement is such that the relay |04 can only be energized when taking off rudderfand never whenputting it on. This is brought about by making the terminal which supplies current to the relay negative and thus of ground potential when rudder is being put on, and making that contact of positive potential when rudder is being taken oil, so that the relay can be energized.

As long as the compass contact IL is hit by the contact arm I4, the rudder is maintained in the position to which it Was moved, and the steering motor and magnet 95 are deenergized by the insulating section |22 of the controller disc |I8 moving into coincidence with brush CIL, thereby interrupting the circuit from the positive terv Deenergization of this circuit causes the arm 19 to be restored to the mid position by action of spring contact arms |43, 44, and |45, thus breaking the steering motor circuit at |69.

As soon as the craft commences to swngback to its course in response to the left rudder movementvand the action is such as to cause contact arm ||4 to engage the zerocompass contact, the controller circuits will be energized to complete the energization of right electromagnet 96, thus closing the contacts |43, |44, and by moving them to the down position. In this position the arm |44 engages contact |11 to complete the circuit to the steering motor through the limit switch, which includes contact segment 52, winding WR of the steering motor, andthe balancing resistor |03. Consequently, the rudder is movedv minal of the source, through fuse F, switch arm |46, contact C, wires |65 and |66, relay arm |05. relay contact |61, variable resistance |08, wire |68, switch arm |44, contact |11, balancing resistor |03, wire |18, brushes |18 and |6|, limit switch associated with segment 52,'wire |62, motor field winding WR, motor amature |14, wire |15, relay contact |16, and relay arm |06, to

ground.

As indicated before, there is included in the drive between the tiller and the quadrant a centering contact 51. Cooperating with. this contact is a brush |83 which completes a circuit to ground whenever the tiller occupies the predetermined chosen centerposition with respect to the quadrant. The purpose of providing this centering contact is to maintain synchronization between the rudder and the controller, that is, to stop the steering motor whenever rudder is being taken off, if the rudder should tend to pass through the center position before the controller' stops at its zero' or center position. l

After the rudder has stopped at its center position, the controller continues its travel to its zero or center position, which movement was initiated by the compass. -When the rudder has been moved away from its zero position and the parts are energized to restore it, the controller disc ||8 is,of course, displaced from the position shown in Fig. 8. Likewise, the position of controller disc |31 is such that both 0f the brushes |4| and |42 contact with the conducting ring |38.

As pointed'out, asv long as the rudder is being put on or is moving away from its neutral position, the relay |04 cannot be energized. However,

when the rudder is moving toward its neutral position, positive current is supplied to the con-v ducting ring |38 so as to energize the relay |04 as soon as -the tiller reaches a position where brush |83 engages the conducting segment 61. If at this time the controller is restored to its zero position simultaneously with the engage-` ment of brush |83 and contact 51, the relay |04 is never energized, since the brush |42 engages the insulating segment |38 of controller disc |31. However, should, for any reason, the controller be out of exact synchronism with' the rudder, and

not be restored to its zero positionv at thel timewhen the rudder reaches its neutral position, the relay |04 will be energized to break the contact between relayv armature |06 and contact |16, thus deenergizing and stopping the steering motor.

This circuit-for relay |04 will be as follows:

I Positive terminal of the source, fuse F, switch arm |46, compass contact C, wire |53, remote control contact |54, wire |55, compass segment 6, contact arm |I4, compass zero contact, wire brush |42, winding of relay |04, wire |85, brush- I84, controller brush |4|, conducting ring |38,

|83, conducting segment 51, to ground.

After the arm ||4 has dropped, the zero controller contact remains energized through the vcircuit established by 'disc' 88 and switch |43, 'as already explained, so thatat any time when rudder is being taken off and brush |83 engages segment v51, the relay operates, breaking the motor circuit.

. Contact |83 and segment 51 are made of as small angular extent as possible. In some cases, after the relay has been closed to stop the motor,-

the inertia of the motor armature may cause the motor to coast enough to break the circuit at |8351. 'Io prevent the relay |64 from opening before the controller breaks the circuit at |38| 42, a holding circuit is established as follows: Positive terminal of source over compass contact ||4, zero compass contact and wire |84,

' brushes |4|, |42, segment |38, relay winding |04,

contact |88 on relay, relay arm |06', to ground. This holds the relay circuit closed, after it has been closed at |83-51, until the circuit is broken to center before the controller reaches its zero approaches infinity as the size of the-contacts approaches zero as a limit.

It has been found that non-cumulative rudder impulses are very effective to produce stable steering in calm water. Consequently it is found preferable in systems of this character to move the rudder away from zero when the craft is near its course and then to return it to center in a series of small, equal. non-cumulative swings or impulses. When the craft isfarther from its course, however, it is preferable to' hold the rudder deiiected, particularly in Vheavy weather, 'or in changing course, so as to avoid a waste of power incident to returning the rudder to its mid position between successive deflections.

Consequently, in the system shown in Fig. 8,

whenever the compass contact engages either the IL or |R contact and simultaneously the zero compass contact, alternate deflection and restoration of rudder occur.

As has been stated, synchronization is accomplished by creating a slight tendency to take off more rudder than is put on, and then stopping the steering motor when the rudder is vat center to prevent it passing through the center position. When necessary, a balancing resistance |03 is added to one side of the motor circuit to bring the free trailing position of the rudder to the neutral position. In practice it is Ausually only necessary to usethe resistance 0 3 on boats with large slow single propellers which have a severe deecting action,

'I'he means used to give the underthrow tendency has been provided by water resistance on the rudder. However, on' ships where the'quadrant is used to control the v alve of an engine, some additional means must be employed as water presder. relay acts, the armature circuit is broken by relay |45 isconnected to the WL or WR elds of the motor by one of contacts |69 or |92. It is also connected to the controller brush B by wires |9I, |81, |04. Thus, when rudder is taken off, wires |84, |91, I9I carry current from the zero contact to |45, short circuiting resistance |09 which causes the motor to run slightly faster in taking off rud- When the rudder reaches center and the arm\| 06, thus stopping the motor. Switch |45,

. |89,` |92 .is..not connected up or used when the quadrant is used to turn a rudder, but only when it is used to turn a valve or to act as a servomotor.

In the preceding description, the various circuits have been traced describing the operation 'of the mechanism when the compass contact arm engages the zero contact, as well as contact I L. It will be understood that the operation of the circuits when this arm engages contact IR is the same as that for contact IL, except that the parts moye in vdirectionsopposite to'those described. y 'Ihislineans that ther electromagnet 96 is energized and thatthe controller and the steering motor move to the right; .likewise,. .that spring switch arms |43, |44, and I 45 are all moved downwardly ,iristeadiof upwardly. Before describing the operation of the changeover switch, a condition will be assumed in which A' rmovementof the .craft off its course is sufficient to causesthe contact arm to engage compass contact 9L. The first resultof this engagement as the craft is moving 'away from its course is to cause energization of-magnet 95, thus causing movement of the controller to the leftraising the contact arms |43, |44, and |45 and energizing the winding WL of the steering motor.- The cir- ",uitjlosed for this operation, in addition to that of the'pilot motor which is operating continuously,

is as followsr fromY the lpositive terminal of the source, through fuse F, switch arm |46, wire |53,

remote control contact |54, wire |55, compass segment I,I6, contact: arm II4, compass 'contact 3L, wire |93, brushy |3I cooperating with segment |26 ofnthe change-over switch, brush COL 3 of the change-over switch, wire |94, brush C3L of the controller conducting segment I I9, controller brush BL, winding of magnet 95, wire |59, to ground. v

The steering motor circuit has already been traced in connection with contact IL. In response to closing of thel circuit just described, the steering motor moves the rudder to the left to restore the craft to its course. This left movement continues until insulating segment |22 of the controller comes into contact with controller brush CSL, whereupon the circuit of magnet 95 is broken at |22. This breaks the steering motor Acircuit at |69. If now the craft, in response to I 4, compass contact 2L, wire |95, brush CZL, conducting' segment I2I, brush BR, winding of magnet 96, wire A|59, to ground. This moves the contact arm |43 against its lower-contact |96. Likewise, contact arms |44 and |45 are moved ing motor, armature |14, Wire |15, contact |16,`

and relay arm |06, to ground. This circuit remains closed to move the rudder to the right toward its zero position until insulating segment |22 of the controller strikes the brush C2L, whereupon the magnet 96 is deenergized and the steering` motor circuit is broken at contact |11 associated with contact arm |44.'

It will be obvious from this description that similar operations occur when the` craft moves off its course so as to require right rudder for its restoration, and that, in such a case, the compass contacts 2R and 3R operate through connected controller contacts to restore the craft to its course.

'I'he change-over switch is designed to operate only upon extreme movements of the craft, as

v inl changing course, or any other movements which are suflcient to bring the contact arm I|4 into engagement with either of the compass c ontacts 4L'or 4R. As thecraft moves away from its course, the contacts of the compass may be hit in' succession from zero outward, or the speed of the swing may be sufficient so that contact is only made with 4L or 4R. However, it is desirableon such extreme swings that rudder bertaken oif in a different manner than it is put on, and consequently the change-over switchis so arranged that when the craft moves' o its course so as to require, for example, operation ofthe circuits connected with compass contact 4R, during the restoring movement, even though contact 3R be hit, the amount of rudder applied will be that corresponding to contact 2R, since, in this way, overswing of -the craft beyond its course on the return is prevented.

In order to make this clear, it will be assumed that a change in course of the craft occurs so that the contact. arm I I4 engages contact 4R of the compass. The circuit completed when contact 4R is hit is from the source as before, to compass contact segment I I6, through contact arm II4, contact 4R, wire I 91, brush C4R of the controller, controller se'gment I2I, brush BR to energize magnet 96, over the wire |59, to ground. 4

This circuit is made as before when the solenoid I|5 of the compass is energized over the timer 68. Likewise, the circuit is maintained by the contact'disc 88 during the intervals when brush 1I rides off the conducting portion 69 of timer 68. Energization of magnet 96 moves contact arm |43 into engagement with contact |96, and likewise, contact arms |44 and |45 are moved to their downward positions where they engage contacts-|11 and |92, respectively. Consequently, the controller moves to the right and winding WR of the steering motor is. energized to move the rud-v der to the right. When controller disc I I8 reaches a position in which insulating segment |22 engages brush C4R,the controller circuit is broken to deenergize the magnet 96 and thus to deenergize the steering motor circuit by breaking contact at contact arms |44 and |45.'

aoeaoai The sharp angle of the rudder in response to this circuit energization will tend to cause the craft to start to swing. rapidly toward the new course. lAs soon as the craft gets near enough to her course to cause R3 to be energized, counterclockwise rotation of the controller and segment |24 will occur and cause R3 to excite CR2 and consequently take rudder off to the position indicated by CR2. The eifect of this is that, while on the return swing the compass contact arm ||4 may engage contact 3R, the segment |25 will throw into circuit a 2R contact. The rudder movement resulting will be toward the left and will correspond to a 2R contact on the compass insteadof a 3R contact, as would be the case if the craft were swinging away from its course instead of toward it.

When compassfcontact arm ||4 strikes contact 3R with the craft swinging toward its course, the circuit completed is from the battery to compass contact arm ||4 as before, then through compass contact 3R, wire |98 to brush |21, conducting seg ment- |25 of the change-over switch, brush COR3,

tion turns the change-over switch to connect R3 with COR2 so that movement of th'e rudder to the left corresponding to a 2R contact of the compass ris, therefore, made.

If the swing of the craft toward its course continues, contact arm- I4 may engage contacts 2R and IR in succession and rudder movementswill occur of normal amount without encountering any change through the action `of the change-over switch.

' The action of the centering switch |31 on the controller to cause synchronization between the controller and the rudder has been set forth.. The centering switch has the additional function of insuring that the rudder is centered in the quadrant when the automatic control is to be shut olf at the end of a run or for taking over hand A steering. The contacts O ofthe main switch |08 correct the course.

may be brought into circuit by rotation of arm |46. If the rudder is off center, the compass arm I4 will make contact to energize one of the magnets lor 96. Consequently, the steering motor circuit will be completed by arm |44 and the motor will run until contact 51 reaches brush |83. Relay |04 then picks up and breaks the motor circuit at |06',"leaving the rudder centered. The controller continues to run until it reaches zero and centering switch contact |42 strikes segment |39. The switch |46 is then moved to the off position. It should also be pointed out that if, for any reason, the centering switch should become inoperative, the system would still operate to produce satisfactory steering, although the centering would not be as exact as it is with the centering switch in operation.

Assuming that the centering switch fails to operate, the action would be to cause the rudder to move around to a point where'its center position would coincide with its trailing position. If we assume that the trailing position is on the left, as shown in Fig. 11 of the drawings, the quadrant would then be adjusted by v-hand to Eventually thenleft limit of normal rudder movement and left limit of possible rudder movement would coincide. The craft would then steer with perfect stability as long as conditions to which the quadrant was adjusted continued and the amplitude of normal rudder movement would stay the same. The system would, of course, lack the exactness of the centering switch, but it would be operative and avoid any dangerous condition.

In the previous description reference has been made to a remote control socket |01. The 'purpose of this is to make it possible to vset the main switch |08 so that hand steering of the craft may be carried out from a point on the craft remote from the steering station in order to move the craft in emergency so as to avoid obstructions o r another craft. It is also desirable that this remote control shall be of such form that the auto- I matic control can be removed from or restored'to the compass by manipulation of a switch. Consequently a remote control device of the. form AshownA in Fig. 9 may be employed.

It embodies two switch elements, one of which permits connecting of either thel compass for automatic control or the remotecontrol switch for remote manual control. When the remote manual control is thrown in, manipulation .of the .second switch can be used to cause craft movement either to the right or the left, but only one degree of such movement is permitted by the switch shown, since it is only to be used in emergency, and, after a craft deflection, control will be 'restored to the compass, as under normal conditions.

Referring to Fig. 9, reference character 20| designates a plug having'flve terminals corresponding to the terminals of socket |01. The

-terminals of this plug will be designated the same as the terminals on socket |01. Terminal |54 is connected to the compass, 202 is the remote control terminal, 203 is the connection to the zero contact of the compass, whereas 204 and 205 are the terminals connected to contacts 4L and 4R, respectively, of the compass.

l 'I'hese terminals of the plug 20| ane connected by wires to acasing, comprising two rigid ends connected by a exible rubber tube 206 within which the switch contacts are mounted and which tube may be deformed by pressing at the points indicated by the arrows to operate the switch elements. The switch X, for example, when the -tube 206 is pressed at point COM, throws the This second switch, designated K, comprises a conducting bar 201 pivoted about and slidable 0114 circuit to wire 209 is broken. .The bar is urged outwardly by a spring 2|| and the ends of the barengage stationary stops 2|2 and 2|3. When the tube is pressed at point Ri, this moves the bar 201 into engagement with a stationary contact 2| 4. the bar pivoting about the stop 2|2. i

This connects the zero contact of the compass connected to terminal 203 with terminal 205 to `cause a. right rudder movement. Depression of the tube at point Le will bring'the bar 201 into contact with a stationary contact 2|5, ,thuscqn necting terminals 203 and left rudder terminal the switch K. As long as bar 201 occupies thev position shown, O contact circuit is closed' to bring the rudder to zero, but by pressing either at Ri or'Le, corresponding rudder movements may be accomplished, and when an emergency has passed, the switch X may be restored to the positionfshown, thus restoring control to the compass. The switches X and K are totally enclosed in a water-tight housing in which the contacts are protected from dirt and moisture. The

vlength of cable connecting this housing with the plug 20| may be anything desired, and when the attachment is not in use it may be removed from the socket |01 and stored away.

There is a valuable feature in making it possible for a single person to handle a yacht without being compelled to remain adjacent the steering station in order to assume the helm under emergency conditions. The attachment is also valuable for all uses in which the operator desires to go away from the steering station and still be able to manipulate his craft with safety under emergency conditions.

In the specification, reference has been made to a condenser |48 included in the grounded circuit of the main switch |08. AFor the purpose of eliminating sparking of contacts and radiation which might cause radio interference, suitable filtering condensers may be employed. As shown in Fig. 8, the contact |62 of disc 88 is grounded through a wire 6| and a condenser 10. Likewise, the wire |56 connected to solenoid ||5 is connected to a condenser 80 and by a wire 60 to the positive side of the circuit.

The circuit arrangement shown in Fig. 8 requires manual setting of the quadrant in order to x the center of oscillation of and thus determine the neutral point ofthe rudder. For steering craft upon which the quadrant 4is connected directly to the rudder as shown, and hence in which water pressure exerts a restoring tendency on the rudder, this form of the invention steers a straight course and is particularly accurate when the boat is' passing through calm water in which slight deviations from the course are very noticeable. When systems embodying this invention are to be employed in connection with larger craft, and more particularly craft in which the quadrant operates a valve or other controlling means of a power steering engine and in which the action of water pressure on the rudder exerts no effect upon the quadrant position, it is preferred to use the form of circuit shown in Fig. 10. In this form of the invention no manual setting of the quadrant is necessary nor is there any occasion for employing a centering contact on Y and thus fix the neutral position of the rudder without any manual control. Furthermore, this center of oscillation will change automatically in response to outside influences, such as wind and Waves, and produces such accurate centering that continued rudder movements will result in the rudder taking a position where the averages of left and right movements are equal and hence the ship will steer a straight and accurate course regardless of the peculiarities of the craft or changes in inuences acting on the craft.

In all prior art arrangements adapted to produce this centering action of the rudder Aof a craft, some mechanical devices have been necessary in order to cause the rudder to seek its true center of oscillation. By practicing this invention, however, no attention whatsoever need be given to the centering action, since it is inherent and automatic under all conditions of the craft and ofthe sea and involves merely the use of a u small relay for shunting out a resistance from the circuit of the motor whenever the motoris running. in a direction to put on rudder in either direction from lthe neutral position. When the rudder is moving in the opposite direction, that is,

when rudder is being taken oi, the resistance is included in the circuit. Hence, the motor runs slower on its return travel than it does on its outward travel, and moves the rudder through a smaller angle. lfhe resistance must be of suicient value to overcome the tendency of the water pressure acting on the rudder to cause more rudder to be taken off than was put on.

Referring to Fig. 10, the system there shown embodies the automatic fixing of the center of rudder oscillation just described. Except for the addition of afurther resistance in circuit with the steering motor, the system is similar to that shown in Fig. 8. In Fig.' 10 a four-wire motor is show i instead of a three-wire motor and the controller is of slightly `modified construction. It will be understood that, if desired, the motor and controller of Fig. 8 or any equivalent arrangement may be employed in the system of Fig. 10. In Fig. 10 the mechanical elements of the controller and its driving mechanism are shown in connection with the circuits in order to make it clear how the two are combined. It is to be understood that the system of Fig. 8 may be modified by rearranging the relay |04 and the balancing resistor |03 and by eliminating the centering contact on the tiller so as to produce the operation which will now be described in connection with Fig. 10. f Y

The compass arrangement, the driving mechanism for the controller, including the pilot motor, the magnets for clutching the controller to and unclutching it from the drive, and -the switches controlled in response to clutching and unclutching of the controller are similar to those described in connection with Fig. 8. Likewise, the remote control socket 301 is similar in construction and arrangement to the control socket |01, shown in Fig. 8. Where the elements correspond exactly to those previously described, furtherexplanation will not be made, except as it is necessary in setting forth the detailed operation of the modified system.

The controller disc 3|8 carries two conducting l" segments 3|! and 32| Separated from each other by V-shaped sections of insulation 322` and 323, respectively. Cooperating with the V-shaped insulation 322 is an adjustable brush 344 connected to the zero contact of the compass and likewise to the zero contact of main switch 308. This an adjustable brush 330 connected by wire 332 to the winding of relay 304. The other terminal of this relay 304 is connected by wire 333 to brush 334 cooperating with two transverse conducting bars carried in insulating disc 388. This disc is driven from the large controller disc, as in Fig. 8, and the conducting bars are grounded, so that brush'334 completes a connection to ground for one side of relay 304 in any one of four positions of the disc 388. 'Ihe arrangement and timing of disc 388 and of the controller is such that relay 304 is always energized by the controller when the steering' motor is moving the rudder awayfrom its neutral position, but it is never energized when the rudder is moving toward that position.

' 'I'he timing relation between disc 388 and timer 388 is such ,that on large swings of the craft the steering motor may start and stop several times.

'I'he relay 304 operates to overthrow the rudder onall outward swings. It has an amature 338 cooperating with` a front contact 308. A resistor 300 is included in circuit with the winding 323 of the motor M when relay 304 is deenergized as shown. When, however, the relay is energized to close its front contact, the resistor 300 is shortcircuited thuscausing the motor to receivemore current and to run faster. y

'I'he controller includes the change-over switch 324 which operates inthe'manner described in connection with Fig. 8 to alter the relationship between the movements of putting on and taking off rudder, after the craft starts to swing toward its set course subsequent to a severe yawing move- 4ment or when a change in course is' made.

vwill be traced. It will first be assumedl that the switch 308 is adjusted as shown, thus completing` circuits for compass control. This starts the pilot motor 384, the circuit of which is from the positive terminal of source S, through wire 382, contact C and switch arm 348, wire 383, winding of pilot motor 384, variable resistance 302, to ground. This motor runs at constant speed and drives the timer disc 388 as well as the gears 313 and 318.

Rotation of timer disc 388. opens and closes the circuit of solenoid 3 I8, which circuit is from the positive terminal of the source, through the main switch, wire 384, solenoid 3|8, wire .385, brush 31|, and conducting bar 383, to ground.

It it be assumed that a craft movement takes place to cause contact arm 3|4 to engage contact IL, the motor M will be energized to cause a left rudder movement over the following circuit: Positive terminal ofthe source, wire 382, arm 348 and contact C of main switch 308, wire 38,4,

, compass segment 3|8, contact arm 3|4, contact lIL, wire 388, controller brush CIL, conductingsegment 3|3, controller brush BL, wire 381, winding of magnet 335wire 330, brush 334, one of bars 383 on disc 388, to ground. Energization of the magnet 3 35 moves thearm 313 upwardly, thus causing pinion 311 to drive theicontroller disc through the intermediate gearing, the drive being in a counterclockwise direction tending to bringv the V-shaped insulating segment 322 into g registry with brush CIL.

As soon as the controller starts to turn, segment 3| 3 is brought into engagement with brush 330, thus supplying positive current to the relay 304 and picking up armature 305, and short-circuiting the resistance 300. Lifting of arm 313 Cil by energization of magnet 335 closes the lcircuit' Y of motor M, this circuit being from the positive terminal of source S, over wire 33|, helm adjusting resistance 303, wire 332, contact 308 andarmature 305'of relay 304, wire 333, .iield 323 of runat a speed dterminedWby the helm resistance 303 to move the rudder to a position determined by the proportioning of the parts, and until the controller brings insulating segment 322 into alignment with brush CIL. At that point the circuit to magnet 338 is brokenv and the steering motor circuit broken by dropping of the arm 313, thus disengaging the contact arms 338 and 403 from their upper coacting contacts 333 and 402, respectively.

'I'he controllerv will now be in a position in which the ring 32| engages brush 344 and hence when restoration of the craft to its course causes the compass contact arm to-engage its zero contact, a circuit is closed to drive the steering motor and to move the rudder to the right, thus restoring the rudder to its mid position.

The magnet 33.8 will be energized over a circuit from the positive terminal of the source to the compass contact 3I4, as previously traced, then through the zero contact of the compass, wire 405 to brush 344, controller segment 32|,

brush BR, wire 408, winding of magnet 338,

wire 330 and brush 334-, to ground on the disc 388. Under these conditions, no current is supplied to the segment 3|3 of the controller withwhich the brush 330 is in engagement. Hence, relay 304 is deenergized and its armature occupies the lower position in which the resistance 300 is included in the steeringv motor circuit.

'Ihe circuit for the steering motor is then from the positive terminal of the source, through wire 33|,- steering motor adjusting resistance 303, wire 332, resistance 300, wire 333, eld winding 323 of 'motor M, contact arm 338, contact 401, wire 40|, armature of motor M, wire 400, balancing resistor 303, contact 408, contact arm 403, to ground at 404. Since this circuit includes the resistance 300, the motor will run at slower speed and its movement toward the neutral position will be less than that which it had in moving away from that position in response to engagement of the compass arm with contact IL.. 'Ihis action automatically brings the center of oscillation of the rudder to a point in the quadrant which maintains the craft on its course and in which the averages oi the rudder deections on both sides of the neutral position are the same. It will be understood that the relay 304 will operate in the system shown only to include the resistance '300 when contact arm 3I4- is takingoff rudder and is in no' sense caused by rudder movements themselves. Inasmuch as the `detailed circuit operation of the system shown in Fig. 8 has been described, further description of the system of Fig. 10 will be superfluous.`

As pointed out above, the system shown in Fig. 8A is the preferred form, especially when the system is installed on craft where the quadrant operates directly vupon the rudder. Likewise, the system shown' in Fig. 10 may be preferable in installations on craft where the'quadrant controls the rudder, not directly, but through the valve or-other, controlling d'evice -of a power steering engine.A

, As pointed out above, systems embodyingthis invention arey suitable for` use veither by direct connection to a rudder, as shown in Fig. 8, or by application to the control of a valve or 4other controlling device 'of a power steering engine. Under some conditions it may be desirable to make installations on craft having an outboard rudder arrangement or a doublerudder arrangement. 'Ihe manner of making such an installation for a double rudder outboard system is shown in Fig. 12, wherein two rudders 6I6 and 6H are pivoted to the hullof the boat and carry extended arms'6l8 and 6|9, respectively. The construction of the tiller and quadrant is exactly the same as that shown in Fig. 2, except that they are attached to a stud 62| instead of a rudder post. The shaft 641 is extended above the quadrant driving gears to support a collar 622 having integral arms 623 and 624 pivotedv to the ends of arms 618 and 6I9 at 625 and 626, respectively. The steering cables for manual setting of the quadrant are indicated at 621.

The manner of operation of the system will be obvious, since the circuit controlling mechanism is arranged exactly as previously described. However, thermotion of the tiller is transmitted from the forward end of the same instead of from the rear end, as shown in Fig. 2. The arrangement of Fig; 12 may be adopted whether one or tWo rudders are to be used. If a single rudder is to be used, one of the arms 623 or 624 will be omitted and the post 62| so located as to permit the single rudder to be placed midway between the sides of the craft.

The showing of Fig. 12 likewiseA indicates the manner in which the tiller and quadrant 'may be mounted when control is exerted on the valve of a steering engine, or any Vsimilar arrangement in which the quadrant is not connected directly to the rudder. Y

The systems shown and described are of flexible character and may be applied to various sizes of craft in accordance with characteristics of those craft. 'I'he outstanding advantages of both the systems described are that helm adjustment may be accomplished at any time by merely varying a simple variable resistance located adjacent the steering station. vSuch an adjustment varies the amount of helm in both directions and is unaffected by rudder positions andv can be carried out` by persons totally unfamiliar with the construction and arrangement of the parts. Furthermore, the simple observation of the response `of themechanisrn will be sumcient to enable-said adjustmentto be made. Y

It should-be understood that if a resistance is used in a. follow-up system to control the speed of a steering motor, it does not affect the angle of throw of the rudder, but only the rate of movement.` In this system which operates on a xed time-basis, the resistance changes the angle of rudder movement.

Furthermore, the system offers the very marked: advantage of assuring that the rudder and con-Il troller will be synchronized at all times and thatf.

when the mechanism isshut off, the rudder will Abe centered accurately with respect to theA quadrant so as to make the apparatus available for hand steering and avoiding accidents which might occurthrough failure to observe that the rudder was not properly centered. The importance of having the system composed of several isolated units which can be replaced by simply removing a plug is marked and far-reaching.

Although two systems embodying this inven- ,tion have been' shown and described, it will be obvious that the elements of these systems may be combined in other ways, within the scope of the claims, without departing from the spirit and scope of the invention.

What is claimed is:-v

1. That method of controlling the movements of -a dirigible craft in one plane. which consists in subjecting the rudder to a permanent bias to bring its trailing and neutral positions into coincidence, Iand then artificially causing rudder movements toward and away from the neutral position to be unequal.

' 2. That method of controlling the movements of a dirigible craft in one plane, which consists in subjecting the rudder to a permanent bias to bring its trailing and neutral positions into coincidence, and then artificially causing all rudder movements except the last toward the neutral position to exceed corresponding movements away from the neutral position.

tion.

5. That method of controlling the rudder of a dirigible craft, which consistsinv causing the rudder-actuating mechanism to move the rudder farther on its return travel than on its outward travel, and causing the rudder'to stopin its neutral position after an outward swing. Y

6. That method of controlling the rudder of a dirigible craft to cause it to seek its neutral position automatically, which consists in causing the" rudder to swing farther -in all'its outward movements than in its return movements.

'7. In an automatic steering system for dirigible craft comprising a rudder; motor means for actuating said rudder, said means being constructed and arranged to permit the rudder tovseek its free trailing position.; and means acting on said motor for causing the free trailing position of the rudder to concide 'approximately with the neutral position of the' rudder.

` 8. In an automatic steering system for dirigible Craft, a rudder constructed and arranged to seek its free trailing position, and non-yielding means for causing the free trailing position of the rudder 'to coincide approximately with the neutral `position of the rudder.

9. In an automatic steering system including' through a xed point whenever it returns to the rudder at that point while the controller returns to its zero position. i,

10. In an automatic steering system including an electric motor for operating the rudder, and a course indicator and electric controller located remote from said motor, that method of synchronizing the rudder and controller which consists in causing the rudder to move farther when swinging awa`."y\cfrom center than in returning to center.

11. In an automatic steering system for dirigible craft having a rudder, an electric steering motor; .compass controlled means including an electric contact device; an electric controller for causing operation of the steering motor in re I spouse to movements of the compass controlledl means, said controller and motor being constructed and arranged to operate in synchronous relation independently of any follow-up connection; and a variable resistance in circuit with said motor for varying the angle of rudder movement.

12. In an automatic steering system for dirigible craft having a rudder, an electric steering motor; an electric controller for said motor, said motor and controller being constructed and arranged to operate independently but in predetermined synchronized relation; means for causing rudder movement. w

13. Inan automatic steering system of the nonfollow-up type for dirigible craft having a rudder, an electric steering motor; an electric controller for said motor; means responsive to changes in the heading of the craft for causing operation of ,said controller; means for causing said motor and controller'to maintain a predetermined synchronized relation; and means remote from said steering motor for varying the speed of the steer.- ing motor to adjust the rudder angle.

14. That method of controlling the rudder of a dirigible craft to keep the craft on its course, which method consists in artificially causing all rudder movements toward and away from the neutral position to be unequal.

15. 'I'hat method of controlling the rudder actuating means of a dirigible craft to hold the craft on its course, which consists in causing all rudder movements away from the neutral position to exceed movements toward that position.

16. That method of a controlling the rudder actuating mechanism of a dirigible craft having an inherent tendency to deviate from its course,

which consists vin causing all rudder movements,

away from that direction in which the craft inherently tendsto turn to exceed rudder movements in that direction. v

17. An automatic steering system for dirigible craft having a rudder, comprising rudder actuating means; a controller operating independently of 'the rudder; means responsive to changes in heading of the craft for causing actuation of the controller; and means responsive tothe direction of controller movement for varying theamount of rudder movement. Y .E

18. An automatic steering system for dirigible craft, comprisingv a rudder; means for actuating the rudder; a non-follow-up controller for said means;'means responsiveto changes in heading ofthe craft forcausing actuation of the con: troller ;v and means responsive to direction of controller movement for causing all rudder moveoverthrow the rudder in all movements except the last toward the setcourse.

20. An automatic steering system for dirigible craft, comprising a rudder; an electric rudderactuating motor; an electric controller; means responsive to changes in heading of the craft for causing actuation of the controller; and relay controlled means associated with said motor, and responsive to direction of controllermovement for causing all rudder movements away from the set course to exceed rudder movenents toward the set course.

21. An automatic steering system for dirigible craft, comprising a rudder; an electric rudderactuating motor; an electric controller; means responsive to changes in heading of the craft for causing actuation of the controller; a resistance element; and a relay responsive to changes in direction of controller movement for including said resistance element in circuit with the motor during rudder movements in the direction of yaw of the craft,` and for shunting out said resistance during rudder movements in the opposite direction. 4

22. .Arr automatic steering system for dirigible craft, comprising a rudder; rudder actuating` means; means responsive to changes in heading of the craft for controlling rudder movements;

and means for causing all rudder movementsA away from the neutral position of the rudder to exceed rudder movements toward that position.

23. An' automatic steering system for dirigible. craft, comprising a rudder; rudder actuating means; means responsive to changes in heading Y of the craft for controlling rudder movements;

and relay-operated means for causing rudder,

movementsaway from the neutral position to exceed rudder movements toward that position;

24. An automatic steering system forv dirigible craft, comprising a rudder; an electric steering motor; a controller for said motor; means responsive to changes inthe heading of the craft `for causing operation of said controller; an electric resistance element; and a relay controlled by changes in direction of controller movement for connecting said resistance in circuit with the motor when rudder is being taken .off and shunting it out when rudder is being put on.

2 5."`A steering system for dirigible craft, comprising a rudder; a steering motor; a controller for said steering motor; a pilot motor for driving 4 setting position; a steering motor wholly mounted on said tiller; anda driving connection between the motor and quadrant to cause movement of said tiller and rudder.

27. In a steering system for dirigible craft, a l

rudder; a tiller rigidly connected to saidrudder; a quadrant loosely connected' to said tiller; means tor mounted on said tiller; and a worm and gear Y connection between said motor and said quadrant to cause movement of said tiller with respect to the quadrant when said motor is operating, but permitting concerted movement of the quadrant and tiller when the quadrant is actuated.

28. In a steering system, a rudder having a tiller connected thereto; a quadrant connected to said rudder; asteering motor mounted on said tiller and vmovable therewith; and a one-way driving connection between said motorl and said quadrant. v

29. In a steering system for dirigible craft, a rudder having a rudder post j a quadrant loosely mounted on said post; a tiller operatively connected to said rudder post; a steering motor mounted on and movable with said tiller; and a worm and gear drive between said motor and quadrant to actuate the tiller and rudder when the motor is operating andthe'quadrant is held,

but causing` concerted movement of tiller and quadrant when the quadrant is moved.

30. An automatic steering system for. dirigible craft, comprising a rudder; a quadrant; a steering motor; a controller for said steering motor; a motor for driving said controller; means controlled by changes in the heading of the craft for causing operation of said controller irrespective of the position of the rudder; and a manually operated switch element for causing said controlthe rudder; a quadrant; a steering motor; course y controlled means for causing operation of the steering motor; and an electric. contact device controlledby the tiller for breaking the steering motor circuit when the tiller occupies a predetermined position with respect to the quadrant.

32. An automatic steering system for dirigible craft, comprising a rudder; a steering'motor; a non-follow-up controller for said vsteering motor;` a pilot motor for driving said controller; electromagnetic means responsive to changes 'in the heading of the'craft for causing,actuation of the controller; and means operated by said controller for causing operation of the steering motor in a direction to cause the craft to follow a set course.

33. In an automatic steering system includinga rudder, rudder actuating means, and a controller for said means operated independently of the positiongfgof the rudder; that method of synchronizing the rudder and controller which consists in causing rudder movements toward and away from the neutral position of the rudder to be unequal.

34. In an automatic steering system including a direction controlling'element, and a controller operated independently f the position of said element, that method of obtaining synchronization of said element and said controller which consists in causing all movements of said ele- .Jment away from the neutral position to exceed its movements toward that position.

35. 'I'hat method of counteractingvtheinherent tendency of a craft having an electric rudder motor to ldeviate from a set course, which consists in imparting a permanent compensating bias` to the windings of said motor.

36. In an automatic steering system for dirigit ble craft, a steering motor; a rudder operated by said motor; a controller for causing operatin of said motor for predetermined periods f time; means for causing operation of said controller independently ofthe movements of the rudder; and means vfor varying the speed of said motor for varying the angle of rudder applications.

37. In an automatic steering system for dirigible craft'having a rudder, a steering motor; a. controller for said motor; means responsive to the heading of the craft for kcausing operation of said controller for predetermined periods of timel and independently of said rudder; and means for varying the speed of said motor, for varying the angle of rudder throw. y

38. In an automatic steering system for dirigible craft having a rudder, a reversible steering motor; a controller for said motor; means responsive to the heading of the craft for causing operation of said controller for predetermined periods of time and independently of said rudder; and an adjustable resistance in circuit with said motor for varying the angle of rudder application.

39. In an automaticY steering system for dirigible craft having a rudder; a reversible steering motor; a controller for said motor; means responsive to the heading of the craft for causing oper- ',f ation of said controller for fixed time periods and independently of the rudder; and an electric resistance in circuit with said motor for causing ,the rudder to move symmetrically with respect to its neutral position. V

40. In an automatic steering system for dirigible craft having a rudder; a reversible.r steering motor; a controller for saidy motor; jmeansv responsive to the heading of the craft for causing operation of said controller for fixed time periods and independently of the rudder; and an electric resistance element in circuit with said motor only during rotation of said motor in a predetermined direction for causing the rudder to be actuated symmetrically with respect to its neutral position.

41. An automatic steering system for dirigible craft, comprisingv a rudder; a steering motor; a compass including anV electromagnetically operated contact device; a controller for the steering motor; means for driving the controller; means in response to operation of the compass contact device; means for periodically energizing the electromagnetic means on the compass to operate the contact device; and circuit controlling meansfor maintaining energization of the controller actuating means during the intervals when the electromagnetic means on the compass is ineffective and the controller is displaced from its Zero position.

`for lcausing selective movement of the controller l 42. In a steering system for dirigible craft hav-Av ing a rudder subject to greater load when moving in one direction than when moving .in the v other direction, areversible'motor for operating said rudder; a resistance element; and means for ble craft having a rudder; a steering motor; a

controller for starting and stopping said motor; means tending to cause the rudder -to pass through a fixed point on movements toward the v center; and means for rendering the steering motor ineffective when the rudder reaches said point,

and for maintaining it ineffective luntil the cont.

troller reaches a predetermined position, whereby the rudder and controller are maintained in synchronized relation.

44. The combination set forth in claim 43, wherein manually operable means are provided for setting the fixed point to maintain a set course.

45. In an automatic steering system for dirigi.

ble craft having a rudder, a reversible steering motor for operating the rudder; a controller for said motor, said controller being operated independently of said rudder; and means for controlling the motor to cause greater application of l rudder when the craft is departing from its course than when it is returning to its course, whereby synchronism -is maintained between the rudder and controller.-

46. The method of synchronizing the movement of the rudder and controller in an automatic steering system of the type in which thev controller operates independently of the rudder, which method consists in causing more rudder to be applied when the craft is departing from its course than when it is returning toward its course. 1

47. An automatic steering system for dirigi.

ble craft, comprising a rudder; a motor for moving said rudder a motor controller having a zero position; compass-controlled means for causing actuation of said controller; electromagnetic switching means for causing energization of saidmotor; a timing circuit for causing actuation of the compass-controlled means; and circuit c ontrolling means for maintaining the motor circuit closed during the intervals when said timing circuit is open and the controller is displaced from for causing actuation of said pilot motor to drive said controller, and for causing selective energ'ization of the motor; and means controlled by movement of the rudder for deenergizing the steering motor. y

49. An automatic steering system for dirigible craft comprising a rudder; a reversible steering motor; a controller; a pair of electromagnets for causing actuation of said controller in one direction or the other; compass-controlled means for selectively energizing said electromagnets; switching means for causing energization of the steering motor in response to energization of one of said electromagnets; a resistance element; and means for placing said resistance element in circuit with said motor when the rudder is being moved away from its neutral position.

50. An automatic steering system for dirigible craft comprising a rudder; a reversible steering motor; a controller; a pair of electromagnets for causing actuation of said controller in one direction or the other; compass-controlled means for selectively energizing said electromagnets; switching means for causing energization of the steering motor in response to energization of one of said electromagnets; a resistance element; and

means for selectively including said resistance y craft comprising a rudder; av reversible steering motor; a controller; a pair cf electromagnets for causing actuation of said controller in one direc- 'tion or the other; compass-controlled means course.

54. That method of maintaining synchronism between the' rudder and controller of a steering for selectively energizing said electromagnets; switching means for causing energization of the steering motor in response to energization of one of said electromagnets; a helm adjusting resistance permanently in circuit with said motor; a second resistance; and relay operated means for including said second resistance in the motor circuit when the rudderV is moving away from its neutral position.

52. In an automatic steering system for dirigible craft, a rudder; a reversible steeringmotor; a controller for said motor; a pilot motor for operating said controller; compass-controlled means for causing actuation of the controller independently of the rudder; electromagnetic means for selectively energizing the steering motor in response to compass indications; and means for breaking the steering motor circuit without disturbing the actuation of the controller.

53. 'I'he method of automatically xing the center of oscillation of the rudder of a dirigible craft, which consists in overthrowing the rudder in all movements of the `craft away from a set system yfor dirigible craft in which controller movements are independent of rudder movements, which method consists in causing the rudder-actuating mechanism to move in larger steps onitsv return travel than on its outward travel, and causing. the` rudder to stop in its neutral position after an outward swing.

55. That method of maintaining synchronism between the rudder and controller of a steering system for dirigible craft in which controller movements are independent of rudder movements, which methodconsists` in causing the rudder to swing farther in all its outward movements than in its return movements.

56. That method of controlling the rudder actuating meansof a dirigible craft to hold the craft on its course which consists in causing all rudder movements'while the craft is deviating from its course to exceed rudder movements while the craft is returning toward its course.

responsive to changes in the heading of the craft for causing operation ofthe controller; and

means-for causing the rudder-actuating means to overthrow the rudder in. all movements except the last, toward the set course.

58. That method of controlling the rudder of a' dirigible craft which consists in establishing a neutral position for the rudderin which position the rudder-actuating means is ineffective when taking oif rudder, and in .causing said rudder to seek said neutral position by making all rudder movements except the last toward said neutral position exceed rudder movements away from said neutral position. l

59. That method of automatically controlling the rudder of a dirigible craft, which consists in moving the rudder in a series of steps in a direction to counteract any swing off the course until the swing stops, and then during a return swingof the craft toward the course moving the rudder ina series of steps in an opposite direction, and making all of said last mentioned steps, except the last, of greater amplitude than corresponding ones of said first mentioned steps.

60. An automatic steering system for dirigible I 

